#ifndef _MOTOR_H_
#define _MOTOR_H_


void speed_control();
void motor_duty();
void motor_l_PID();
void motor_r_PID();
void encoder_get();
int Sign(float Input);
float Fal(float e,float alpha,float zeta);
int32 PID_Realize(Motor_pid *sptr, int32 ActualSpeed, int32 SetSpeed,int32 LastSpeed);
void adrc_speed();
void adrc_Control();
float adrc_current(int current_err,int last_error);
#endif
